Linear controller for model reference uncertain system with state delay

This correspondence is concerned with the design of a linear memoryless feedback controller for a class of model reference linear control system in which the plant and input matrices are uncertain, and the plant states have retarded arguments. Under certain assumptions a linear control law is determined which forces the plant states to follow the states of a reference model. The tracking error does not asymptotically decrease to zero; instead the error is bounded. This bound can be made arbitrarily small. An example is provided to illustrate the design method.